Collision free trajectory planning for manipulator using potential function

Akira Mohri, Xiang Dong Yang, Motoji Yamamoto

研究成果: ジャーナルへの寄稿Conference article

15 引用 (Scopus)


This paper proposes a method for planning the collision free trajectory of a manipulator. In this method, geometrical constraints to avoid obstacles are represented by restrictive potential functions. The dynamic equation of the manipulator is expressed by a path parameter 's' which is the generalized length along the path. The driving torque/force is improved by taking shorter travelling time and collision avoidance into considerations. Finally, the proposed method is applied to a manipulator with three links and is shown to be effective.

ジャーナルProceedings - IEEE International Conference on Robotics and Automation
出版物ステータス出版済み - 1 1 1995
イベントProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
継続期間: 5 21 19955 27 1995


All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering